Related papers: Formation Under Communication Constraints: Control…
This paper investigates performance limitations and tradeoffs in the control design for linear time-invariant systems. It is shown that control specifications in time domain and in frequency domain are always mutually exclusive determined…
In multi-user wireless packet networks interference, typically modeled as packet collision, is the throughput bottleneck. Users become aware of the interference pattern via feedback and use this information for contention resolution and for…
Wireless control systems replace traditional wired communication with wireless networks to exchange information between actuators, plants and sensors in a control system. The noise in wireless channels renders ideal control policies…
In this paper, we develop new methods for the analysis of decentralized control systems and we apply them to formation control problems. The basic set-up consists of a system with multiple agents corresponding to the nodes of a graph whose…
Communication remains a key factor limiting the applicability of distributed model predictive control (DMPC) in realistic settings, despite advances in wireless communication. DMPC schemes can require an overwhelming amount of information…
Variable length communication over a compound channel with feedback is considered. Traditionally, capacity of a compound channel without feedback is defined as the maximum rate that is determined before the start of communication such that…
The compound broadcast channel with confidential messages (BCC) generalizes the BCC by modeling the uncertainty of the channel. For the compound BCC, it is only known that the actual channel realization belongs to a pre-specified…
We consider the problem of allocating radio resources over wireless communication links to control a series of independent wireless control systems. Low-latency transmissions are necessary in enabling time-sensitive control systems to…
In this paper, secure transmission of information over fading broadcast channels is studied in the presence of statistical queueing constraints. Effective capacity is employed as a performance metric to identify the secure throughput of the…
The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One…
We establish the capacity region of several classes of broadcast channels with random state in which the channel to each user is selected from two possible channel state components and the state is known only at the receivers. When the…
This paper investigates a pattern formation control problem for a multi-agent system modeled with given interaction topology, in which $m$ of the $n$ agents are chosen as leaders and consequently a control signal is added to each of the…
This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
With the rise of critical machine-to-machine applications, next generation wireless communication systems must be designed with strict constraints on the latency and reliability. A key question in this context relates to channel state…
The topic of this paper is achieving finite-time max-consensus in a multi-agent system that communicates over a fading wireless channel and exploits its interference property. This phenomenon corrupts the desired information when data is…
Adaptive guaranteed-performance consensus control problems for multi-agent systems are investigated, where the adjustable convergence speed is discussed. This paper firstly proposes a novel adaptive guaranteed-performance consensus…
The concept of optimal communication channels shapes our understanding of wave-based communication. Its analysis, however, always pertains to specific communication-domain geometries, without a general theory of scaling laws or fundamental…
As the mobile application landscape expands, wireless networks are tasked with supporting various connection profiles, including real-time communications and delay-sensitive traffic. Among many ensuing engineering challenges is the need to…
Interference limits performance in wireless networks, and cooperation among receivers or transmitters can help mitigate interference by forming distributed MIMO systems. Earlier work shows how limited receiver cooperation helps mitigate…